fix

Author: saka1-s

launch/tier4_system_launch/launch/system.launch.xml

@@ -41,7 +41,6 @@
 
   <!-- Hazard Status Converter -->
   <arg name="report_only_diag" default="false"/>
-  <arg name="report_safe_fault" default="false"/>
 
   <group>
     <push-ros-namespace namespace="/system"/>
@@ -126,7 +125,6 @@
     <group unless="$(var use_emergency_handler)">
       <include file="$(find-pkg-share hazard_status_converter)/launch/hazard_status_converter.launch.xml">
         <arg name="report_only_diag" value="$(var report_only_diag)"/>
-        <arg name="report_safe_fault" value="$(var report_safe_fault)"/>
       </include>
     </group>
 

system/hazard_status_converter/launch/hazard_status_converter.launch.xml

@@ -1,10 +1,8 @@
 <launch>
   <arg name="report_only_diag" default="false"/>
-  <arg name="report_safe_fault" default="false"/>
   <node pkg="hazard_status_converter" exec="converter" name="hazard_status_converter">
     <remap from="~/diagnostics_graph" to="/diagnostics_graph"/>
     <remap from="~/hazard_status" to="/system/emergency/hazard_status"/>
     <param name="report_only_diag" value="$(var report_only_diag)"/>
-    <param name="report_safe_fault" value="$(var report_safe_fault)"/>
   </node>
 </launch>

system/hazard_status_converter/src/converter.cpp

@@ -29,7 +29,6 @@ Converter::Converter(const rclcpp::NodeOptions & options) : Node("converter", op
   sub_graph_.subscribe(*this, 1);
 
   report_only_diag_ = declare_parameter<bool>("report_only_diag", false);
-  report_safe_fault_ = declare_parameter<bool>("report_safe_fault", false);
 }
 
 void Converter::on_create(DiagGraph::ConstSharedPtr graph)
@@ -121,10 +120,6 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph)
   hazard.stamp = graph->updated_stamp();
   hazard.status.level = get_system_level(hazard.status);
   hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT;
-  if (report_safe_fault_)
-    hazard.status.emergency &=
-      (hazard.status.level == HazardStatus::SAFE_FAULT ||
-       hazard.status.level == HazardStatus::LATENT_FAULT);
   hazard.status.emergency_holding = false;
   pub_hazard_->publish(hazard);
 }

system/hazard_status_converter/src/converter.hpp

@@ -42,7 +42,6 @@ class Converter : public rclcpp::Node
   DiagUnit * auto_mode_root_;
   std::unordered_set<DiagUnit *> auto_mode_tree_;
   bool report_only_diag_;
-  bool report_safe_fault_;
 };
 
 }  // namespace hazard_status_converter